Autonomous laser weed eradication

ABSTRACT

Disclosed herein are methods, devices, modules, and systems which may be employed for automated weed identification, control, and eradication. These methods, devices, modules, and systems provide an alternative to hand cultivation or chemical herbicides. Devices disclosed herein may be configured to locate, identify, and autonomously target a weed with a beam, such as a laser beam, which may burn or irradiate the weed. The methods, devices, modules, and systems may be used for agricultural crop management or for at-home weed control.

CROSS-REFERENCE

This application is a continuation of U.S. application Ser. No.17/022,483, filed Sep. 16, 2020, which claims the benefit of U.S.Provisional Application No. 62/901,641, filed Sep. 17, 2019, whichapplications are incorporated herein by reference in their entirety.

BACKGROUND

Agricultural output is valued at trillions of dollars annuallyworldwide. Agriculture is an essential component of food production andincludes cultivation of both livestock and plants. Rising population anddecreased crop yield due to changing climate threaten global foodsecurity. Methods for increasing agricultural production by improvingcrop yield and boosting labor efficiency may help mitigate foodshortages.

SUMMARY

The present disclosure provides various methods, devices, modules, andsystems which may be employed for automated identification, maintenance,control, or targeting of plants. For example, the methods, devices,modules, and systems disclosed herein may be used to autonomouslyidentify and eradicate weeds located within a field of crops. Themethods, devices, modules, and systems may be used as alternatives tohand cultivation or chemical herbicides. For instance, the methods,devices, modules, and systems may be used for agricultural cropmanagement or for at-home weed control.

In various aspects, the present disclosure provides an optical controlsystem comprising: an emitter configured to emit a beam along an opticalpath toward a target location on a surface, wherein the target locationis determined by autonomously locating a target on the surface; a firstreflective element positioned to intersect the optical path and deflectthe beam; a first targeting actuator connected to the first reflectiveelement and configured to rotate the first reflective element anddeflect the beam toward the target location; and a combining elementpositioned in the optical path between the emitter and the firstreflective element and configured to differentially deflect the beam anda scattered light from the target location traveling along the opticalpath in a direction opposite the beam.

In some aspects, the optical control system further comprises atargeting camera optically connected to the combining element andconfigured to receive the scattered light reflected off the firstreflective element and image a targeting field of view including thetarget location. In some aspects, the optical control system isconfigured to direct the beam toward the target location while theoptical control system is moving relative to the surface. In someaspects, the optical control system further comprises a targeting systemcomputer configured to detect a pixel movement of the targeting field ofview relative to the target location and convert from the pixel movementof the targeting field of view to a rotation of the first reflectiveelement.

In some aspects, conversion from the pixel movement to the rotation ofthe first reflective element comprises referencing a calibrationfunction. In some aspects, the calibration function is obtained bycorrelating locations of fiducial markers on a calibration surface tocamera pixel movements.

In some aspects, the optical control system further comprises aninertial measurement unit coupled to the optical control system, whereinthe inertial measurement unit is configured to measure an accelerationof the optical control system, a rotation of the optical control systemrelative to the surface, or a combination thereof. In some aspects, thetargeting system computer is configured to adjust the target locationbased on an amount of time since imaging, the acceleration of theoptical control system, the rotation of the optical control systemrelative to the surface, or a combination thereof.

In some aspects, the optical control system is enclosed in an enclosure,the enclosure comprising an escape window capable of transmitting theemission and the visible light and positioned in the optical pathbetween the first reflective element and the surface. In some aspects,the optical control system is fully enclosed in the enclosure. In someaspects, the optical control system further comprises an air sourceconfigured to direct an air stream from an In some aspects, theenclosure further comprises a wall opposite the aperture configured tocontrol the direction of the air stream and reduce turbulent flowwithout obstructing the beam.

In some aspects, the first reflective element is a mirror. In someaspects, the combining element transmits the beam and reflects thevisible light. In some aspects, the emitter is a laser emitter. In someaspects, the laser emitter is selected from the group consisting of aninfrared laser, an ultraviolet laser, and a visible laser. In someaspects, the optical control system further comprises a second targetingactuator connected to the first reflective element and configured torotate the first reflective element and deflect the beam toward thetarget location. In some aspects, the optical control system furthercomprises a second reflective element positioned to intersect theoptical path and deflect the beam deflected by the first reflectiveelement, and a second targeting actuator connected to the secondreflective element and configured to rotate the second reflectiveelement and deflect the beam toward the target location. In someaspects, the first targeting actuator deflects the beam along a firstaxis and the second targeting actuator deflects the beam along a secondaxis, wherein the first axis and the second axis are orthogonal. In someaspects, the combining element is positioned after the emitter, thefirst reflective element is positioned after the combining element, andthe second reflective element is positioned after the first reflectiveelement relative to the direction of the beam. In some aspects, a weedis positioned at the target location.

In various aspects, the present disclosure provides a weed eradicationmethod comprising: capturing an image of a prediction field of view witha prediction camera; locating a target in a prediction field of view;assigning the target to one of a plurality of targeting modulescomprising a targeting camera having a targeting field of viewoverlapping with a location of the target; capturing an image of thetargeting field of view with the targeting camera; locating the targetin the targeting field of view; and directing a beam toward a locationof the target.

In some aspects, locating the target in the prediction field of viewfurther comprises identifying a position of the target in the predictionfield of view. In some aspects, the weed eradication method furthercomprises identifying a region containing the target, wherein the regionis defined by a polygon. In some aspects, the weed eradication methodfurther comprises converting the position to a predicted surfacelocation. In some aspects, the weed eradication method further comprisesdetermining a desired movement in the targeting field of view. In someaspects, the weed eradication method further comprises converting thedesired movement to an actuator position change. In some aspects,locating the target comprises identifying a target using a trainedneural net. In some aspects, the trained neural net is capable ofproviding a bounding box, a polygon mask, or a combination thereofaround the target. In some aspects, the trained neural net is trainedwith images of fields.

In some aspects, locating the target in the targeting field of viewfurther comprises referencing a calibration function obtained bycorrelating locations of fiducial markers on a calibration surface tocamera pixel coordinates and correcting the location of the target. Insome aspects, assigning the target to one of the plurality of targetingmodules comprises providing the location of the target to one of theplurality of targeting modules. In some aspects, directing a beam towardthe location of the target further comprises referencing a calibrationfunction obtained by correlating pixel movements of fiducial markers ona calibration surface to actuator tilt values and correcting theactuator tilt values. In some aspects, the weed eradication methodfurther comprises deactivating the beam once the target has been damagedor killed.

In some aspects, capturing an image of the targeting field of view withthe targeting camera, locating the target in the targeting field ofview, and directing a beam toward a location of the target are performedwith high accuracy. In some aspects, the target is a weed.

In some aspects, the weed eradication method further comprises damagingor killing the weed. In some aspects, damaging or killing the weedcomprises irradiating the weed. In some aspects, damaging or killing theweed comprises burning the weed. In some aspects, locating the targetcomprises differentiating between the weed and a desired plant.

In various aspects, the present disclosure provides a targeting systemcomprising a prediction module, a targeting module, and an opticalcontrol module; the prediction module comprising: a prediction cameraconfigured to image a prediction field of view on a surface and tolocate a target in the prediction field of view, and a prediction modulecontroller configured to convert a location of the target in theprediction field of view to a predicted location on the surface andassign the target to the targeting module; the targeting modulecomprising: a targeting module controller configured to convert thepredicted location to a position of a targeting actuator; and theoptical control module comprising: an emitter configured to emit a beamalong an optical path toward the target, and the targeting actuatorconfigured to receive position information from the targeting modulecontroller and deflect the beam toward the target.

In some aspects, the targeting system further comprises a targetingcamera configured to image a targeting field of view on the surface andto locate the target in the targeting field of view. In some aspects,the optical control module further comprises: a first reflective elementcontrolled by the targeting actuator and positioned to intersect theoptical path and deflect the beam, and a combining element positioned inthe optical path between the emitter and the first reflective elementand configured to differentially deflect the beam and a scattered lightfrom the targeting field of view traveling along the optical path in adirection opposite the beam.

In some aspects, the optical control module is configured to direct thebeam toward the target while the targeting system is moving relative tothe surface. In some aspects, the targeting module is configured todetect a pixel movement of the targeting field of view relative to thetarget and convert from the pixel movement of the targeting field ofview to a motion of the targeting actuator.

In some aspects, the targeting system further comprises an inertialmeasurement unit configured to measure an acceleration of the targetingsystem and a rotation of the targeting system relative to the surface.In some aspects, the targeting module is configured to adjust thepredicted location based on an amount of time since imaging, anacceleration of the targeting system, a rotation of the targeting systemrelative to the surface, or a combination thereof. In some aspects, thetargeting system further comprises a second targeting module comprising:a second targeting camera configured to image a second targeting fieldof view on the surface and to locate the target in the second targetingfield of view, and a targeting module controller configured to convert alocation of the target in the second targeting field of view to aposition of a second targeting actuator. In some aspects, the predictionfield of view comprises the targeting field of view.

In some aspects, the targeting system further comprises a vehicletransporting the prediction camera and the optical control module. Insome aspects, the vehicle is an autonomous vehicle. In some aspects, thevehicle comprises a plurality of wheels.

In some aspects, the optical control module is enclosed in an enclosure,the enclosure comprising an escape window capable of transmitting theemission and the visible light and positioned in the optical pathbetween the first reflective element and the surface. In some aspects,the optical control module is fully enclosed in the enclosure. In someaspects, the targeting system further comprises an air source configuredto direct an air stream from an aperture in an external surface of theenclosure toward an exterior surface of the escape window. In someaspects, the enclosure further comprises a wall opposite the apertureconfigured to control the direction of the air stream and reduceturbulent flow without obstructing the beam.

In some aspects, the first reflective element is a mirror. In someaspects, the combining element transmits the beam and reflects thevisible light. In some aspects, the emitter is a laser emitter. In someaspects, the laser emitter is selected from the group consisting of aninfrared laser, an ultraviolet laser, and a visible laser. In someaspects, the optical control module further comprises a second targetingactuator connected to the first reflective element and configured torotate the first reflective element and deflect the beam toward thetarget. In some aspects, the optical control module further comprises asecond reflective element positioned to intersect the optical path anddeflect the beam deflected by the first reflective element, and a secondtargeting actuator connected to the second reflective element andconfigured to rotate the second reflective element and deflect the beamtoward the target. In some aspects, the first targeting actuatordeflects the beam along a first axis and the second targeting actuatordeflects the beam along a second axis, wherein the first axis and thesecond axis are orthogonal. In some aspects, the combining element ispositioned after the emitter, the first reflective element is positionedafter the combining element, and the second reflective element ispositioned after the first reflective element relative to the directionof the beam.

Additional aspects and advantages of the present disclosure will becomereadily apparent to those skilled in this art from the followingdetailed description, wherein only illustrative embodiments of thepresent disclosure are shown and described. As will be realized, thepresent disclosure is capable of other and different embodiments, andits several details are capable of modifications in various obviousrespects, all without departing from the disclosure. Accordingly, thedrawings and description are to be regarded as illustrative in nature,and not as restrictive.

INCORPORATION BY REFERENCE

All publications, patents, and patent applications mentioned in thisspecification are herein incorporated by reference to the same extent asif each individual publication, patent, or patent application wasspecifically and individually indicated to be incorporated by reference.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features of the disclosure are set forth with particularity inthe appended claims. A better understanding of the features andadvantages of the present disclosure will be obtained by reference tothe following detailed description that sets forth illustrativeembodiments, in which the principles of the disclosure are utilized, andthe accompanying drawings of which:

FIG. 1A illustrates an isometric view of a laser targeting system, inaccordance with one or more embodiments herein;

FIG. 1B illustrates an isometric view of a laser targeting system withthe laser path and visible light path indicated, in accordance with oneor more embodiments herein;

FIG. 2 illustrates a top view of a laser targeting system with the laserpath and visible light path indicated, in accordance with one or moreembodiments herein;

FIG. 3A illustrates a side view of a laser targeting system, inaccordance with one or more embodiments herein;

FIG. 3B illustrates a side view cutaway of a laser targeting system withthe clean air path indicated, in accordance with one or more embodimentsherein;

FIG. 4 illustrates a targeting laser and targeting coverage area of thetargeting laser, in accordance with one or more embodiments herein;

FIG. 4A illustrates a side view of a targeting laser and targetingcoverage area of the targeting laser, in accordance with one or moreembodiments herein;

FIG. 4B illustrates a front view of a targeting laser and targetingcoverage area of the targeting laser, in accordance with one or moreembodiments herein;

FIG. 5 illustrates an isometric view of a prediction camera, multipletargeting lasers, prediction view area of the prediction camera, andtargeting coverage area of the targeting lasers, in accordance with oneor more embodiments herein;

FIG. 6 illustrates a front view of an autonomous laser weed eradicationrobot, a prediction camera, and coverage area of multiple targetinglasers, in accordance with one or more embodiments herein;

FIG. 7 illustrates an isometric view of an autonomous laser weederadication robot, a prediction camera, and coverage area of multipletargeting lasers, in accordance with one or more embodiments herein;

FIG. 8 depicts a method of identifying, assigning, and targeting atarget, in accordance with one or more embodiments herein;

FIG. 9 depicts a method of identifying, assigning, targeting, anderadicating weeds in a field, in accordance with one or more embodimentsherein.

DETAILED DESCRIPTION

Cultivation of crops is essential for food and textile production. Oneimportant component of crop management is the control or elimination ofundesirable plant species, commonly referred to as weeds. Weeds maydecrease crop yield by depriving a desired plant of resources includingwater, nutrients, sunlight, and space. Weeds may further interfere withcrop growth by harboring pests or parasites that damage the desiredplants. Traditional weed control and eradication methods include handcultivation or chemical herbicides. Hand cultivation is labor intensive,leading to increased cost of crop production and higher food and textileprices. Use of chemical herbicides may have negative environmentalimpacts including ground water contamination, acute toxicity, orlong-term health effects such as cancer.

Development of eco-friendly and low-cost weed control and eradicationmethods is important for higher crop yield, lower food prices, andlong-term environmental stability. Reducing or eliminating the need forherbicides may decrease many of the negative environmental side-effectsof crop production, including toxic run-off and ground watercontamination. Decreasing the need for manual labor may substantiallylower farming costs and improve labor standards.

The present disclosure provides various methods, devices, modules, andsystems which may be employed for automated identification, maintenance,control, or targeting of plants. In some embodiments, the methods,devices, modules, and systems disclosed herein may be used toautonomously identify and eradicate weeds located within a field ofcrops. For example, disclosed herein are particular methods forautonomously locating, identifying, and targeting objects, for exampleweeds, with a beam comprising electromagnetic radiation. Also disclosedherein are devices configured to locate, identify, and autonomouslytarget the objects with a beam. The devices may be used, for example, tocontrol or eliminate weeds. For example, the devices may be used to burnor irradiate weeds. The modules disclosed herein may be used forautonomous control of the devices and systems disclosed herein toimplement the methods disclosed herein, for example to locate, identify,target, and control or eliminate weeds. The systems disclosed herein maycomprise devices, modules, and methods configured to autonomouslycontrol or eliminate an object, for example a weed, by locating,identifying, and targeting the object with an emission. Sometimes, themethods, devices, modules, and systems may be used for agricultural cropmanagement or for at-home weed control. The methods, devices, modules,and systems may be used as alternatives to hand cultivation or chemicalherbicides.

Optical Control Systems

Described herein are optical control systems for directing a beam, forexample a light beam, toward a target location on a surface. FIG. 1Aillustrates an isometric view of an embodiment of an optical controlsystem 100 as disclosed herein. An emitter 101 is configured to direct abeam along an optical path 102. In some embodiments, the beam compriseselectromagnetic radiation, for example light, radio waves, microwaves,or x-rays. In some embodiments, the light is visible light, infraredlight, or ultraviolet light. The beam may be coherent. In a preferredembodiment, the emitter is a laser such as an infrared laser. In someembodiments, the emitter emits a beam having a wavelength of about 1 m,about 100 mm, about 10 mm, about 1 mm, about 100 μm, about 10 μm, about1.5 μm, about 1 μm, about 900 nm, about 800 nm, about 700 nm, about 600nm, about 500 nm, about 400 nm, about 300 nm, about 100 nm, about 10 nm,or about 1 nm. In some embodiments, the emitter emits a beam having awavelength from about 1 m to about 100 mm, from about 100 mm to about 10mm, from about 10 mm to about 1 mm, from about 1 mm to about 100 μm,from about 100 μm to about 10 μm, from about 10 μm to about 1.5 μm, fromabout 1.5 μm to about 1 μm, from about 1 μm to about 900 nm, from about900 nm to about 800 nm, from about 800 nm to about 700 nm, from about700 nm to about 600 nm, from about 600 nm to about 500 nm, from about500 nm to about 400 nm, from about 400 nm to about 300 nm, from about300 nm to about 100 nm, from about 100 nm to about 10 nm, or from about10 nm to about 1 nm. In some embodiments, the emitter may be capable ofemitting electromagnetic radiation up to 10 mW, up to 100 mW, up to 1 W,up to 10 W, up to 100 W, up to 1 kW, or up to 10 kW. In someembodiments, the emitter may be capable of emitting electromagneticradiation from 10 mW to 100 mW, from 100 mW to 1 W, from 1 W to 10 W,from 10 W to 100 W, from 100 W to 1 kW, or from 1 kW to 10 kW.

FIG. 1B shows an isometric view of the embodiment of the optical controldevice 100 shown in FIG. 1A, and further illustrates the position anddirection of the beam path 102. Reference numbering is consistentbetween FIG. 1A and FIG. 1B. One or more optical elements may bepositioned in a path of the beam. Said optical elements may comprise oneor more of a beam combiner 103, a first reflective element 105, and asecond reflective element 106. The elements may be configured in theorder of the beam combiner 103, followed by the first reflective element105, followed by the second reflective element 106, in the direction ofthe beam path. In another example, one or both of the first reflectiveelement or the second reflective element may be configured before thebeam combiner, in order of the direction of the beam path. In anotherexample, the optical elements may be configured in the order of the beamcombiner 103, followed by the first reflective element 105 in order ofthe direction of the beam path. In another example, one or both of thefirst reflective element or the second reflective element may beconfigured before the beam combiner, in the direction of the beam path.Any number of additional reflective elements may be positioned in thebeam path.

The beam combiner may also be referred to as a beam combining element.In some embodiments, the beam combiner 103 may be a zinc selenide(ZnSe), zinc sulfide (ZnS), or germanium (Ge) beam combiner. Forexample, the beam combiner may be configured to transmit infrared lightand reflect visible light. In some embodiments, the beam combiner 103may be a dichroic. In some embodiments, the beam combiner may beconfigured to pass electromagnetic radiation having a wavelength longerthan a cutoff wavelength and reflect electromagnetic radiation having awavelength shorter than the cutoff wavelength. In some embodiments, thebeam combiner may be configured to pass electromagnetic radiation havinga wavelength shorter than a cutoff wavelength and reflectelectromagnetic radiation having a wavelength longer than the cutoffwavelength. In some embodiments, the cutoff wavelength may be about 1 m,about 100 mm, about 10 mm, about 1 mm, about 100 μm, about 10 μm, about1.5 μm, about 1 μm, about 900 nm, about 800 nm, about 700 nm, about 600nm, about 500 nm, about 400 nm, about 300 nm, about 100 nm, about 10 nm,or about 1 nm. In some embodiments, the cutoff wavelength may be fromabout 1 m to about 100 mm, from about 100 mm to about 10 mm, from about10 mm to about 1 mm, from about 1 mm to about 100 μm, from about 100 μmto about 10 μm, from about 10 μm to about 1.5 μm, from about 1.5 μm toabout 1 μm, from about 1 μm to about 900 nm, from about 900 nm to about800 nm, from about 800 nm to about 700 nm, from about 700 nm to about600 nm, from about 600 nm to about 500 nm, from about 500 nm to about400 nm, from about 400 nm to about 300 nm, from about 300 nm to about100 nm, from about 100 nm to about 10 nm, or from about 10 nm to about 1nm. In other embodiments, the beam combiner may be a polarizing beamsplitter, a long pass filter, a short pass filter, or a band passfilter.

The positions and orientations of one or both of the first reflectiveelement 105 and the second reflective element 106 may be controlled byactuators. In some embodiments, an actuator may be a motor, a solenoid,a galvanometer, or a servo. For example, the position of the firstreflective element may be controlled by a first actuator 110, and theposition and orientation of the second reflective element may becontrolled by a second actuator 111. In some embodiments, a singlereflective element may be controlled by a plurality of actuators. Forexample, the first reflective element may be controlled by a firstactuator along a first axis and a second actuator along a second axis.In some embodiments, a single actuator may control a reflective elementalong a plurality of axes. An actuator may change a position of areflective element by rotating the reflective element, thereby changingan angle of incidence of a beam encountering the reflective element.Changing the angle of incidence may cause a translation of the positionat which the beam encounters the surface. In some embodiments, the angleof incidence may be adjusted such that the position at which the beamencounters the surface is maintained while the optical system moves withrespect to the surface. In some embodiments, the first actuator rotatesthe first reflective element about a first rotational axis, therebytranslating the position at which the beam encounters the surface alonga first translational axis, and the second actuator rotates the secondreflective element about a second rotational axis, thereby translatingthe position at which the beam encounters the surface along a secondtranslational axis. In some embodiments, a first actuator and a secondactuator rotate a first reflective element about a first rotational axisand a second rotational axis, thereby translating the position at whichthe beam encounters the surface of the first reflective element along afirst translational axis and a second translational axis. For example, asingle reflective element may be controlled by a first actuator and asecond actuator, providing translation of the position at which the beamencounters the surface along a first translation axis and a secondtranslation axis with a single reflective element controlled by twoactuators. The first translational axis and the second translationalaxis may be orthogonal. A coverage area on the surface may be defined bya maximum translation along the first translational axis and a maximumtranslation along the second translation axis. One or both of the firstactuator and the second actuator may be servo-controlled, piezoelectricactuated, piezo inertial actuated, stepper motor-controlled,galvanometer-driven, linear actuator-controlled, or any combinationthereof. One or both of the first reflective element and the secondreflective element may be a mirror; for example, a dichroic mirror, or adielectric mirror; a prism; a beam splitter; or any combination thereof.In some embodiments, one or both of the first reflective element and thesecond reflective element may be any element capable of deflecting thebeam.

FIG. 2 shows a top view of an embodiment of an optical control system100 as shown in FIG. 1A and FIG. 1B. Reference numbers are consistentbetween FIG. 1A, FIG. 1B, and FIG. 2 . A targeting camera 104 may bepositioned to capture light 152, for example visible light, travelingalong the optical path in a direction opposite the beam path 151. Thelight may be scattered by a surface, such as the surface comprising atarget. In some embodiments, the targeting camera is positioned suchthat it captures light reflected off of the beam combiner 103. In otherembodiments, the targeting camera is positioned such that it captureslight transmitted through the beam combiner. The targeting camera may beconfigured to image a target field of view 504 (FIG. 5 ) on a surface.The targeting camera may be coupled to the beam combiner, or thetargeting camera may be coupled to a support structure supporting thebeam combiner. In a preferred embodiment, the targeting camera does notmove with respect to the beam combiner.

FIG. 3A and FIG. 3B show a side view of an embodiment of the opticalcontrol device disclosed herein. Reference numbering is consistentbetween FIG. 1-3 . FIG. 3B illustrates a mechanism for preventing dustand debris accumulation on the optical elements of the optical controldevice shown in FIG. 1-3 . In some embodiments, the optical elements maycomprise hard stops 351 on mirrors to prevent the beam from hittingregions of the optical control device outside of a predefined boundaryon the surface. The optical elements, for example the beam combiningelement and one or both of the reflective elements, may be protected byan enclosure 360. The optical elements may be surrounded by theenclosure. In some embodiments, the enclosure is sealed to prevent dust,debris, water, or any combination thereof from contacting the opticalelements. The enclosure may comprise a laser escape window 107, as shownin FIG. 3B. In some embodiments, the laser escape window is positionedto intersect the beam after the second reflective element in the beampath, or the laser escape window is positioned to intersect the beamafter the first reflective element in the beam path. In someembodiments, the laser escape window is the last element in the beampath. The laser escape window may prevent dust, debris, water, or anycombination thereof from reaching the optical elements. In someembodiments, the laser escape window comprises a material that issubstantially transparent to electromagnetic radiation, such as light.For example, the laser escape window may comprise glass, quartz, fusedsilica, zinc selenide, a transparent polymer, or a combination thereof.

The enclosure may further comprise a self-cleaning device configured toprevent accumulation of dust or debris on the surface of the laserescape window or to remove dust or debris that has accumulated on thesurface of the laser escape window. In some embodiments, theself-cleaning device comprises an aperture 352 in an external surface ofthe enclosure 361 configured to discharge clean air 353. The clean airmay prevent debris from damaging the laser escape window. In someembodiments, the clean air may be filtered. The aperture may beconfigured to direct an air stream from toward an exterior surface ofthe escape window 362. The aperture may be configured such that theclean air is directed across the surface of the laser escape window. Insome embodiments, the enclosure is configured to guide the clean airwithout obstructing the beam 102. For example, the enclosure maycomprise an opening 354 after the laser escape window in the beam pathhaving clearance such that the beam may pass unobstructed. In someembodiments, the opening comprises a wall opposite the aperture. Thewall may be configured to control the direction of the air stream andreduce turbulent flow without obstructing the beam. The opening mayencompass the laser escape window and the beam path, and be configuredso that the opening is narrower close to the laser escape window andwider farther from the laser escape window in the direction of the beampath. In some embodiments, the opening has smooth corners 355 to allowpassage of the clean air while preventing turbulent flow.

After exiting the optical control system, the beam 102 may be directedtoward a surface, as shown in FIG. 4A and FIG. 4B. In some embodiments,the surface comprises a target, for example a weed. Rotational motionsof one or both of the reflective elements 105 and 106, as shown in FIG.2 , may produce a laser sweep along a first translational axis 401 and alaser sweep along a second translational axis 402, as show in view 400and 450 of FIG. 4A and FIG. 4B, respectively. The rotational motions ofone or both of the reflective elements may control the location at whichthe beam encounters the surface. For example, the rotation motions ofone or both of the reflective elements may move the location at whichthe beam encounters the surface to a position of a target on thesurface. In some embodiments, the beam is configured to damage thetarget. For example, the beam may comprise electromagnetic radiation,and the beam may irradiate the target. In another example, the beam maycomprise infrared light, and the beam may burn the target. In someembodiments, one or both of the reflective elements may be rotated suchthat the beam scans an area surrounding and including the target.

Compound Systems

In some embodiments, a plurality of optical control systems may becombined to increase a coverage area on a surface. FIG. 5 illustrates acompound system 500 comprising a plurality of optical control systems100. The plurality of optical control systems are configured such thatthe laser sweep along a translational axis 402 of each optical controlsystem overlaps with the laser sweep of along the translational axis ofthe neighboring optical control system. The combined laser sweep definesa coverage area 503 that may be reached by at least one beam of aplurality of beams from the plurality of optical control systems. Aprediction camera 501 may be positioned such that a prediction camerafield of view 502 fully encompasses the coverage area 503.

The plurality of optical control systems may be configured on a vehicle601, as shown in view 600 of FIG. 6 and in view 700 of FIG. 7 . Forexample, the vehicle may be an autonomous vehicle. The autonomousvehicle may be a robot. In some embodiments, the vehicle may becontrolled by a human. For example, the vehicle may be driven by a humandriver. In some embodiments, the vehicle may be coupled to a secondvehicle being driven by a human driver, for example towed behind orpushed by the second vehicle. The vehicle may be controlled by a humanremotely, for example by remote control. In some embodiments, thevehicle may be controlled remotely via longwave signals, opticalsignals, satellite, or any other remote communication method. Theplurality of optical control systems may be configured on the vehiclesuch that the coverage area overlaps with a surface 602 underneath,behind, in front of, or surrounding the vehicle. The vehicle may beconfigured to navigate a surface comprising a plurality of targets, forexample a crop field comprising a plurality of weeds. The vehicle maycomprise one or more of a plurality of wheels, a power source, a motor,a prediction camera 501, or any combination thereof. In someembodiments, the vehicle has sufficient clearance above the surface todrive over a plant, for example a crop, without damaging the plant. Insome embodiments, a space between an inside edge of a left wheel and aninside edge of a right wheel is wide enough to pass over a row of plantswithout damaging the plants. In some embodiments, a distance between anoutside edge of a left wheel and an outside edge of a right wheel isnarrow enough to allow the vehicle to pass between two rows of plants,for example two rows of crops, without damaging the plants. In apreferred embodiment, the vehicle comprising the plurality of wheels,the plurality of optical control systems, and the prediction camera maynavigate rows of crops and emit a beam of the plurality of beams towarda target, for example a weed, thereby burning or irradiating the weed.

Prediction Modules

Disclosed herein is a prediction module configured to locate targets ona surface. FIG. 8 illustrates a prediction module 810 configured toidentify, assign, and target a target. In some embodiments, a targetprediction system 811 is configured to capture an image of a predictionfield of view comprising surface using a prediction camera 501, identifya target in the image, and locate the target in the prediction field ofview. A camera to control translation system 812 may be configured totranslate the location of the target in the prediction field of viewinto a position on the surface. For example, the camera to controltranslation system may build multiple interpolation functions whichprovide a translation from the location in the prediction field of viewto one or more actuator positions, for example pan and tilt positions,of one or more actuators controlling one or more reflective elements 105and 106, as shown in FIG. 1-3 .

The prediction module 810 shown in FIG. 8 may further comprise a poseand motion correction system 813. The pose and motion correction systemmay comprise a positioning system, for example an Inertial MeasurementUnit (IMU), a Global Positioning System (GPS), or an Internal NavigationSystem (INS). The pose and motion correction system may utilize anInertial Measurement Unit (IMU) which may be directly or indirectlycoupled to the prediction camera. For example, the prediction camera andthe IMU may be mounted to a vehicle. The IMU may collect motion readingsof the IMU, and anything directly or indirectly coupled to the IMU, suchas the prediction camera. For example, the IMU may collect readingscomprising three-dimensional acceleration and three-dimensional rotationinformation which may be used to determine a magnitude and a directionof motion over an elapsed time. The pose and motion correction systemmay comprise a Global Positioning System (GPS). The GPS may be directlyor indirectly coupled to the targeting camera. For example, the GPS maycommunicate with a satellite-based radionavigation system to measure afirst position of the targeting camera at a first time and a secondposition of the targeting camera at a second time. The pose and motioncorrection system may comprise an Internal Navigation System (INS). TheINS may be directly or indirectly coupled to the targeting camera. Forexample, the INS may comprise motion sensors, for exampleaccelerometers, and rotation sensors, for example gyroscopes, to measurethe position, the orientation, and the velocity of the targeting camera.The pose and motion correction system may or may not use externalreferences to determine a change in position of the targeting camera.The pose and motion correction system may determine a change in positionof the targeting camera from the first position and the second position.In some embodiments, after the target prediction system locates a targetin an image, the pose and motion correction system determines an amountof time that has elapsed since the image was captured and the magnitudeand direction of motion of the prediction camera that has occurredduring the elapsed time. The pose and motion correction system mayintegrate the target location, time elapsed, and magnitude and directionof motion to determine a corrected location of the target on thesurface.

The prediction module may further comprise an image detection module.The imaging detection module may be configured to locate and identify atarget in an image. For example, the imaging detection module may beconfigured to differentiate between two plants, such as between a cropand a weed. In some embodiments, the imaging detection module comprisesusing a convolutional neural net. The neural net may be trained withmany images, such as images from the prediction camera or the targetingcamera, of surfaces with or without targets. For example, the neural netmay be trained with images of fields with or without weeds. Oncetrained, the neural net may be configured to identify a region in theimage comprising a target. The region may be defined by a polygon, forexample a rectangle. In some embodiments, the region is a bounding box.In some embodiments, the region is a polygon mask covering an identifiedregion.

Based on the location of the target, a target assignment system 814 mayassign the target to a targeting module 820 of a plurality of targetingmodules. The location of the target may be corrected based on amagnitude and direction of motion during an elapsed time, or thelocation may be within a region defined by a polygon, or both. A futuretarget location may be determined based on a predicted magnitude anddirection of motion during future time period. The target assignmentmodule may assign the target to the targeting module having a coveragearea that overlaps with the target location, the corrected targetlocation, or the future target location.

The prediction module may comprise a system controller, for example asystem computer having storage, random access memory (RAM), a centralprocessing unit (CPU), and a graphics processing unit (GPU). The systemcomputer may comprise a tensor processing unit (TPU). The systemcomputer should comprise sufficient RAM, storage space, CPU power, andGPU power to perform operations to detect and identify a target. Theprediction camera should provide images of sufficient resolution onwhich to perform operations to detect and identify a target.

Targeting Modules

Disclosed herein are targeting modules configured to direct a beamtoward a target location on a surface. FIG. 8 illustrates a targetingmodule 820 configured to predict the location of a target and move oneor more optical elements to direct the beam toward the target location.A plurality of targeting modules may be in communication with theprediction module 810. The targeting module comprises an optical controlsystem as described herein. For example, as shown in FIG. 1-3 , thetargeting module may comprise an emitter 101 that emits a beam 102 alongan optical path, and a beam combining element 103, optionally atargeting camera 104, a first reflective element 105 configured todeflect the beam controlled by a first actuator, and optionally, asecond reflective element 106 configured to deflect the beam controlledby a second actuator, positioned in the optical path. One or both of theactuators may be configured to rotate the one or both of reflectiveelements about a first axis of rotation, and optionally a second axis ofrotation, thereby changing the deflection of the beam path andtranslating a position at which the beam encounters a surface along afirst translational axis, and optionally, along a second translationalaxis. In some embodiments, the first actuator and the second actuatormay rotate a single reflective element about a first axis of rotationand a second axis of rotation, providing translation of the position ofthe point at which the beam encounters the surface along a firsttranslational axis and a second translational axis. The predictioncamera should have a sufficiently large field of view to image thecoverage area of the beam path.

As shown in FIG. 8 , the target prediction system 821 captures an imageof an area on a surface. The area may be predicted to contain a target,as predicted by the prediction module 810. The target prediction systemmay identify a pixel location of the target in the image. The camera tocontrol translation system 822 may convert the pixel location of thetarget image into a position of the first reflective element, andoptionally, a position of the second reflective element. The positionsof the reflective elements may be controlled by actuators, as describedherein. For example, the camera to control translation system mayconvert the pixel location of the target into pan or tilt values of oneor both actuators corresponding to mirror positions predicted to deflectthe beam to the target location.

In some embodiments, the target prediction system further comprises animage detection module. The imaging detection module may be configuredto locate and identify a target in an image. For example, the imagingdetection module may be configured to differentiate between two plants,such as between a crop and a weed. In some embodiments, the imagingdetection module comprises using a convolutional neural net. The neuralnet may be trained with many images, such as images from the predictioncamera or the targeting camera, of surfaces with or without targets. Forexample, the neural net may be trained with images of fields with orwithout weeds. Once trained, the neural net may be configured toidentify a region in the image comprising a target. The region may bedefined by a polygon, for example a rectangle. In some embodiments, theregion is a bounding box. In some embodiments, the region is a polygonmask covering an identified region.

The target location may be further corrected using the pose and motioncorrection system 823. The pose and motion correction system may use apositioning system, for example an IMU, a GPS, or an INS, to determine amagnitude and direction of motion of the targeting camera. In someembodiments, acceleration and rotation readings from an IMU coupleddirectly or indirectly to the targeting camera are used to determine amagnitude and direction of motion. For example, the prediction cameraand the IMU may be mounted to a vehicle. The IMU may collect motionreadings of the IMU, and anything directly or indirectly coupled to theIMU, such as the targeting camera. For example, the IMU may collectreadings comprising three-dimensional acceleration and three-dimensionalrotation information which may be used to determine a magnitude and adirection of motion over an elapsed time. In some embodiments, the poseand motion correction system may use GPS to determine a magnitude anddirection of motion of the targeting camera. For example, the GPS may bemounted to the vehicle. The GPS may communicate with a satellite-basedradionavigation system to measure a first position of the targetingcamera at a first time and a second position of the targeting camera ata second time. In some embodiments, the pose and motion correctionsystem may use an INS to determine a magnitude and direction of motionof the targeting camera. For example, the INS may measure the position,the orientation, and the velocity of the targeting camera. In someembodiments, after the target prediction system 821 locates a target inan image, the pose and motion correction system determines an amount oftime that has elapsed since the image was captured and the magnitude anddirection of motion of the targeting camera that has occurred during theelapsed time. The pose and motion correction system may integrate thetarget location, time elapsed, and magnitude and direction of motion todetermine a corrected location of the target on the surface. In someembodiments, the positioning system used by the pose and motioncorrection system of the targeting module 823 and the positioning systemused by the pose and motion correction system of the prediction module813 are the same. A future target location may be determined based on apredicted magnitude and direction of motion during future time period.In some embodiments, the positioning system used by the pose and motioncorrection system of the targeting module and the positioning systemused by the pose and motion correction system of the prediction moduleare different.

The actuator control system 824 comprises software-driven electricalcomponents capable of providing signals the first actuator, andoptionally the second actuator, controlling the first reflectiveelement, and optionally the second reflective element. For example, theactuator control system sends a signal comprising actuator pan tiltvalues to the first actuator and the second actuator. The actuatorsadopt the signaled pan tilt positions and move the first reflectiveelement and the second reflective element around a first rotational axisand a second rotational axis to positions such that the beam isdeflected to the target location, the corrected target location, or thefuture target location.

The laser control system 825 comprises software-driven electricalcomponents capable of controlling activation and deactivation of theemitter. Activation or deactivation may depend on the presence orabsence of a target as detected by the targeting camera 104. Activationor deactivation may depend on the position of the beam path directedtoward the surface relative to a target location. In some embodiments,the laser control system may activate the emitter when a target isidentified by the target prediction system. In some embodiments, thelaser control system may activate the emitter when the beam path ispositioned to overlap with the target location. In some embodiments, thelaser control system may fire the emitter when the beam path is within aregion of the surface comprising a target defined by a polygon, forexample a bounding box or a polygon mask covering the identified region.The laser control system may deactivate the emitter once the target hasbeen eliminated, the region comprising the target has been scanned bythe beam, the target is no longer identified by the target predictionmodule, a designated period of time has elapsed, or any combinationthereof. For example, the laser control system may deactivate theemitter once a region on the surface comprising a weed has been scannedby the beam, or once the weed has been irradiated or burned.

The prediction modules and the targeting modules described herein may beused in combination to locate, identify, and target a target with abeam. The targeting control module may comprise an optical controlsystem as described herein. The prediction module and the targetingmodule may be in communication, for example electrical or digitalcommunication. In some embodiments, the prediction module and thetargeting module are directly or indirectly coupled. For example, theprediction module and the targeting module may be coupled to a supportstructure. In some embodiments, the prediction module and the targetingmodule are configured on a vehicle, for example the vehicle 601, asshown in FIG. 6 and FIG. 7 .

The targeting module may comprise a system controller, for example asystem computer having storage, random access memory (RAM), a centralprocessing unit (CPU), and a graphics processing unit (GPU). The systemcomputer may comprise an tensor processing unit (TPU). The systemcomputer should comprise sufficient RAM, storage space, CPU power, andGPU power to perform operations to detect and identify a target. Thetargeting camera should provide images of sufficient resolution on whichto perform operations to detect and identify a target.

Calibration Methods

The prediction modules disclosed herein may further comprise calibrationstep. In some embodiments, the camera to control translation system ofthe prediction module 812 is calibrated. In some embodiments, acalibration surface is positioned within a field of view of a predictioncamera. The calibration surface comprises known marks at knownpositions. The prediction camera may collect a plurality of images ofthe calibration surface at different positions relative to thecalibration surface. The prediction module may then correlate a pixelposition of a known mark to the known position on the surface. Aninterpolation function may be built from a plurality of correlated pixelpositions and known surface positions. In some embodiments, theinterpolation function may be saved to a hard drive and loaded from thehard drive by the prediction module.

The targeting modules disclosed herein may further comprise calibrationstep. In some embodiments, the camera to control translation system ofthe targeting module 812 is calibrated. In some embodiments, acalibration surface is positioned within a field of view of a targetingcamera. The calibration surface comprises known marks at knownpositions. The targeting module may collect a plurality of images of thecalibration surface and a plurality of actuator positions, such that theplurality of images comprises different fields of view. For example, thetargeting module may collect a plurality of images at a plurality ofrandomly selected pan tilt values of a first actuator and a secondactuator. A calibration map may be built from a plurality of samplepoints. Each sample point may be collected by identifying a pixellocation of a known mark in an image collected at a known actuatorposition, and correlating the known location with the actuator positionand the pixel location. In some embodiments, the map is fitted to aspline smoothing algorithm to build smooth curves to allow for accurateestimation of locations between the sample points. In some embodiments,the spline smoothing algorithm may be saved to a hard drive and loadedfrom the hard drive by the targeting module.

Weed Eradication System

FIG. 9 illustrates a process 900 for an embodiment of the devices andmethods disclosed herein. The following example is illustrative andnon-limiting to the scope of the devices, systems, and methods describedherein. The process comprises identifying, assigning, targeting, anderadicating weeds in a field. In this example, a weed eradication systemcomprises a prediction module 810 in communication with a plurality oftargeting modules 820. The prediction module and the targeting moduleare controlled by a system controller, for example a computer comprisingstorage, RAM, CPU, and GPU. Each targeting module comprises an opticalcontrol system 100, as shown in FIG. 1-3 . The prediction module and thetargeting modules are coupled to a solid support. The solid support ispositioned on a vehicle 601, as shown in FIG. 6 and FIG. 7 .

As shown in FIG. 9 , operations 920, 930, 940, 950, and 960 are iterateduntil a field of interest has been completely scanned 910. First, theprediction module runs operation 920. The prediction camera collects animage of a field surface in an area surrounding or in front of thevehicle. The system controller processes the image and identifies weedsin the image. At step 921, the prediction model predicts the location ofone or more weeds identified in the image. The camera to control systemtranslates a pixel coordinate of a weed in the image to a groundlocation at step 922. The system controller instructs the vehicle toadjust position and velocity 923 based on motion of the vehicle measuredby an IMU at 922. Each one of the one or more weeds is assigned to atargeting module 924 based on the ground location of the weed and acoverage area of the targeting module.

Operations 930, 940, 950, and 960 are iterated for each target module925. Operations 940, 950, and 960 are iterated for each weed. Atargeting module of the plurality of targeting modules runs operation940. The targeting camera captures a target image of the field, and thesystem controller identifies the weed in the target image 941. Thesystem controller translates a pixel location of the weed in the targetimage into pan and tilt values for each actuator controlling eachreflective element in an optical control system controlled by targetingmodule 942. The system controller applies a pose and motion correctionto the actuator pan and tilt values based on motion of the vehiclemeasured by the IMU at 943 and plans a route for an emitted beam pathcontrolled by the actuator pan and tilt positions 944. Once theactuators reach a determined position, an emitter is activated 945.

Operation 950 is repeated while the planned route is implemented 946.The weed is identified in an image collected by the targeting camera,and the route plan is updated based on an observed position of the weed952. The system controller applies a pose and motion correction to theactuator pan and tilt values based on motion of the vehicle measured bythe IMU at 953. The actuators are moved into position based on theupdated route plan 954. Once the planned route has been completed theemitter is deactivated 960.

While preferred embodiments of the present disclosure have been shownand described herein, it will be obvious to those skilled in the artthat such embodiments are provided by way of example only. Numerousvariations, changes, and substitutions will now occur to those skilledin the art without departing from the disclosure. It should beunderstood that various alternatives to the embodiments of thedisclosure described herein may be employed in practicing thedisclosure. It is intended that the following claims define the scope ofthe disclosure and that methods and structures within the scope of theseclaims and their equivalents be covered thereby.

1-64. (canceled)
 65. A targeting system for autonomous weed eradicationcomprising: a first camera configured to image a surface; an emitterconfigured to emit a beam toward the surface; and a computing system incommunication with the first camera and the emitter, the computingsystem configured to perform operations comprising: receiving, from thefirst camera, a target image of the surface, the target image comprisinga weed on the surface, identifying a region in the target image thatincludes the weed, projecting a target location of the weed on thesurface based on the identified region in the target image, aligning anoptical path of the emitter with the projected target location of theweed, and causing the emitter to emit the beam toward the weed when theoptical path is aligned with the weed.
 66. The targeting system of claim65, further comprising a second camera in communication with thecomputing system.
 67. The targeting system of claim 66, wherein theoperations further comprise: receiving a prediction image from thesecond camera, the prediction image comprising the surface; identifyinga region in the prediction image that includes the weed; projecting apredicted location of the weed based on the prediction image and theidentified region in the prediction image; and aligning the first camerawith the projected predicted location.
 68. The targeting system of claim67, wherein the target image comprises the projected predicted location.69. The targeting system of claim 65, further comprising an actuatorconfigured to align the optical path of the emitter with the projectedtarget location.
 70. The targeting system of claim 69, wherein theactuator is further configured to align the first camera with theprojected predicted location.
 71. The targeting system of claim 69,wherein the actuator is configured to control a mirror in the opticalpath.
 72. The targeting system of claim 65, wherein the targeting systemis positioned on a vehicle.
 73. The targeting system of claim 72,further comprising an inertial measurement unit configured to measure anacceleration of the targeting system and a rotation of the targetingsystem relative to the surface.
 74. The targeting system of claim 65,wherein the emitter is a laser.
 75. The targeting system of claim 75,wherein the laser is selected from the group consisting of an infraredlaser, an ultraviolet laser, and a visible laser.
 76. A method forautonomously killing a weed, the method comprising: receiving a targetimage of a surface, the target image comprising the weed on the surface;identifying a region in the target image that includes the weed;projecting a target location of the weed on the surface based on theidentified region in the target image; aligning an optical path of anemitter with the projected target location of the weed; and causing theemitter to emit a beam toward the weed when the optical path is alignedwith the weed.
 77. The method of claim 76, further comprising: receivinga prediction image of the surface; identifying a region in theprediction image that includes the weed; and projecting a predictedlocation of the weed based on the prediction image and the identifiedregion in the prediction image; wherein the target image comprises theprojected predicted location.
 78. The method of claim 76, wherein theemitter is moving relative to the surface.
 79. The method of claim 76,wherein emitting the beam toward the weed kills the weed.
 80. The methodof claim 76, further comprising causing the emitter to deactivate thebeam after the weed has been damaged or killed.
 81. The method of claim76, wherein the aligning the optical path with the projected targetlocation comprises referencing a calibration function.
 82. A system forautonomous weed eradication, the system comprising: a processor; and amemory having programming instructions stored thereon, which, whenexecuted by the processor, causes the system to perform operationscomprising: receiving a target image of a surface, the target imagecomprising the weed on the surface, identifying a region in the targetimage that includes the weed, projecting a target location of the weedon the surface based on the identified region in the target image,providing instructions to align an optical path of an emitter with theprojected target location of the weed, and providing instructions to theemitter to emit a beam toward the weed when the optical path is alignedwith the weed.
 83. The system of claim 82, wherein the operationsfurther comprise: receiving a prediction image of the surface;identifying a region in the prediction image that includes the weed; andprojecting a predicted location of the weed based on the predictionimage and the identified region in the prediction image; wherein thetarget image comprises the projected predicted location.
 84. The systemof claim 82, wherein the operations further comprise: providinginstructions to the emitter to deactivate the beam once the weed hasbeen damaged or killed.